cmake_minimum_required(VERSION 2.8.3)
project(localization)

# list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
    dynamic_reconfigure
    eigen_conversions
    tf_conversions
    geometry_msgs
    message_filters
    message_generation
    message_runtime
    roscpp
    rospy
    std_msgs
)

set(CMAKE_CXX_FLAGS "-std=c++11 -Wall -O3 -march=native")

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
find_package(G2O REQUIRED)
find_package(Eigen3 3.2 REQUIRED)
find_package(Cholmod REQUIRED)
find_package(CSPARSE REQUIRED)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
  FILES
  UwbData.msg
  # Message2.msg
)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
    DEPENDENCIES
    geometry_msgs
    std_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
generate_dynamic_reconfigure_options(
   cfg/localization.cfg
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
 # INCLUDE_DIRS include
 LIBRARIES localization
 CATKIN_DEPENDS eigen_conversions geometry_msgs message_generation message_runtime message_filters roscpp rospy std_msgs
 DEPENDS system_lib
)

# Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
    ${catkin_INCLUDE_DIRS}
    ${PROJECT_SOURCE_DIR}/src/types
    ${PROJECT_SOURCE_DIR}/src/localization
)

# Uncomment this definition to use decawave's uwb radios
add_definitions(-DTIME_DOMAIN)

# Uncomment this definition to enable relative localization
# add_definitions(-DRELATIVE_LOCALIZATION)


# Uncomment these definitions to compile and run without the vectorization error (not neccessary on actual flight test)
add_definitions(-DEIGEN_DONT_VECTORIZE -DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)

###########
## Build ##
###########

add_subdirectory(${PROJECT_SOURCE_DIR}/src/types)

add_subdirectory(${PROJECT_SOURCE_DIR}/src/localization)

add_executable(localization_node
    src/localization_node.cpp
)

add_dependencies(localization_node 
    ${${PROJECT_NAME}_EXPORTED_TARGETS}
    ${catkin_EXPORTED_TARGETS}
    ${PROJECT_NAME}_gencfg
)

target_link_libraries(localization_node
    ${EIGEN3_LIBRARIES}
    ${catkin_LIBRARIES}
    localization
)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS localization localization_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_localization.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
